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science.html
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<body class="code_page code_text"><pre class="code_page"><table class="code_page" cellspacing="0" cellpadding="0"><tbody><tr><td colspan="2" style="background: #FFFFFF"><div id="file_info" style="width: 900px;"><span style="color: #000000">05/18/17 02:56:36 /Users/helenabales/Documents/School/04/CS461/code/Hephaestus/Hephaestus/science.c
</span></div></td></tr><tr><td><table class="code_page" cellspacing="0" cellpadding="0"><tbody><tr><td id="L_0_1" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 1 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_1" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;"><</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">avr/io.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">></span>
</div></td></tr><tr><td id="L_0_2" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 2 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_2" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">phases.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span>
</div></td></tr><tr><td id="L_0_3" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 3 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_3" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">RSXAVRD.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span>
</div></td></tr><tr><td id="L_0_4" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 4 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_4" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">telemetry.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">"</span>
</div></td></tr><tr><td id="L_0_5" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 5 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_5" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;"><</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">avr/interrupt.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">></span>
</div></td></tr><tr><td id="L_0_6" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 6 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_6" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">#</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">include</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;"><</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">util/delay.h</span><span class="normal real_text" style="background-color: #FFFFFF; color: #8F8634;">></span>
</div></td></tr><tr><td id="L_0_7" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 7 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_7" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">/*</span>
</div></td></tr><tr><td id="L_0_8" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 8 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_8" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">* Design of science phase: arm will move to touch sensor and press it. Upon moving the arm to the location, we will</span>
</div></td></tr><tr><td id="L_0_9" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 9 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_9" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">* check whether the touch sensor was pressed and change our status to represent whether or not it was pressed.</span>
</div></td></tr><tr><td id="L_0_10" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 10 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_10" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">* We will also write a code over the telemetry lines to represent whether or not the touch sensor was pressed.</span>
</div></td></tr><tr><td id="L_0_11" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 11 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_11" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">*/</span>
</div></td></tr><tr><td id="L_0_12" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 12 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_12" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_13" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 13 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_13" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #427E00;">science</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">()</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_14" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 14 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_14" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> status = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_15" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 15 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_15" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_POS, M2_POS, M3_POS, M4_POS;</span>
</div></td></tr><tr><td id="L_0_16" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 16 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_16" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_NXT, M2_NXT, M3_NXT, M4_NXT;</span>
</div></td></tr><tr><td id="L_0_17" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 17 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_17" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_DIF, M2_DIF, M3_DIF, M4_DIF;</span>
</div></td></tr><tr><td id="L_0_18" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 18 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_18" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_STP, M2_STP, M3_STP, M4_STP;</span>
</div></td></tr><tr><td id="L_0_19" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 19 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_19" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> scale_factor = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0.225</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_20" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 20 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_20" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">char</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> path_step;</span>
</div></td></tr><tr><td id="L_0_21" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 21 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_21" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_22" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 22 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_22" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">TODO reference CSpace in program memory (the address of a 4D array in program memory)</span>
</div></td></tr><tr><td id="L_0_23" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 23 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_23" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">char</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">**** cspace;</span>
</div></td></tr><tr><td id="L_0_24" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 24 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_24" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_25" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 25 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_25" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> init motor values to 0</span>
</div></td></tr><tr><td id="L_0_26" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 26 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_26" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_POS = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_27" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 27 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_27" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_POS = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_28" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 28 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_28" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_POS = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_29" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 29 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_29" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_POS = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_30" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 30 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_30" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_31" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 31 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_31" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> turn on camera</span>
</div></td></tr><tr><td id="L_0_32" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 32 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_32" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">camera_enable</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_33" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 33 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_33" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_34" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 34 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_34" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> power on motors</span>
</div></td></tr><tr><td id="L_0_35" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 35 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_35" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_pwr</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_36" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 36 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_36" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_pwr</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_37" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 37 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_37" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_pwr</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">3</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_38" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 38 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_38" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_pwr</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">4</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_39" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 39 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_39" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_40" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 40 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_40" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">repeat for length of path</span>
</div></td></tr><tr><td id="L_0_41" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 41 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_41" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">while</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_42" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 42 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_42" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">set motor direction to be forward</span>
</div></td></tr><tr><td id="L_0_43" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 43 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_43" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_44" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 44 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_44" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_45" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 45 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_45" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">3</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_46" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 46 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_46" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">4</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_47" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 47 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_47" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_48" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 48 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_48" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">find the next point in the path</span>
</div></td></tr><tr><td id="L_0_49" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 49 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_49" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> path_step = cspace[M1_POS][M2_POS][M3_POS][M4_POS];</span>
</div></td></tr><tr><td id="L_0_50" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 50 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_50" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_51" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 51 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_51" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">set the lower and upper bounds for the loops so only indeces </span>
</div></td></tr><tr><td id="L_0_52" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 52 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_52" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">in range are checked</span>
</div></td></tr><tr><td id="L_0_53" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 53 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_53" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M1_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sw = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sw = -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_54" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 54 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_54" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M2_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sx = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sx = -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_55" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 55 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_55" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M3_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sy = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sy = -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_56" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 56 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_56" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M4_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sz = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ sz = -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_57" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 57 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_57" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_58" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 58 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_58" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M1_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">36</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ew = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ew = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_59" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 59 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_59" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M2_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">36</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ex = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ex = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_60" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 60 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_60" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M3_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">36</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ey = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ey = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_61" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 61 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_61" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M4_POS == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">36</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ez = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">else</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ ez = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">; }</span>
</div></td></tr><tr><td id="L_0_62" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 62 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_62" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_63" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 63 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_63" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_64" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 64 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_64" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">check each of the neighboring points</span>
</div></td></tr><tr><td id="L_0_65" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 65 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_65" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">for</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> w=sw; w<ew; w++) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_66" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 66 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_66" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">for</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> x=sx; x<ex; x++) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_67" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 67 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_67" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">for</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> y=sy; y<ey; y++) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_68" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 68 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_68" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">for</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="italic real_text" style="background-color: #FFFFFF; color: #34A7BD;">int</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> z=sz; z<ez; z++) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_69" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 69 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_69" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(cspace[M1_POS+w][M2_POS+x][M3_POS+y][M4_POS+z] == path_step + </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_70" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 70 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_70" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
M1_NXT = M1_POS + w;</span>
</div></td></tr><tr><td id="L_0_71" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 71 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_71" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
M2_NXT = M2_POS + x;</span>
</div></td></tr><tr><td id="L_0_72" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 72 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_72" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
M3_NXT = M3_POS + y;</span>
</div></td></tr><tr><td id="L_0_73" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 73 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_73" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
M4_NXT = M4_POS + z;</span>
</div></td></tr><tr><td id="L_0_74" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 74 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_74" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
</span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">break</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_75" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 75 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_75" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">
}</span>
</div></td></tr><tr><td id="L_0_76" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 76 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_76" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_77" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 77 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_77" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_78" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 78 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_78" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_79" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 79 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_79" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_80" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 80 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_80" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_81" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 81 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_81" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M1_NXT == M1_POS && M2_NXT == M2_POS && M3_NXT == M3_POS && M4_NXT == M4_POS) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_82" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 82 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_82" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">end of path has been reached</span>
</div></td></tr><tr><td id="L_0_83" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 83 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_83" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">TODO send eop telemetry signal</span>
</div></td></tr><tr><td id="L_0_84" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 84 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_84" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">return</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_85" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 85 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_85" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_86" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 86 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_86" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_87" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 87 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_87" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">change _NXT values to be less than 360</span>
</div></td></tr><tr><td id="L_0_88" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 88 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_88" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M1_NXT > </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_89" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 89 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_89" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_NXT = M1_NXT - </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_90" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 90 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_90" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_91" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 91 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_91" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_92" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 92 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_92" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M2_NXT > </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_93" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 93 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_93" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_NXT = M2_NXT - </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_94" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 94 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_94" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_95" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 95 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_95" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_96" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 96 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_96" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M3_NXT > </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_97" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 97 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_97" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_NXT = M3_NXT - </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_98" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 98 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_98" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_99" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 99 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_99" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_100" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 100 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_100" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M4_NXT > </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_101" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 101 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_101" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_NXT = M4_NXT - </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">359</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_102" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 102 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_102" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_103" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 103 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_103" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_104" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 104 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_104" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> calculate change in each motor (in degrees)</span>
</div></td></tr><tr><td id="L_0_105" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 105 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_105" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_DIF = M1_NXT - M1_POS;</span>
</div></td></tr><tr><td id="L_0_106" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 106 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_106" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_DIF = M2_NXT - M2_POS;</span>
</div></td></tr><tr><td id="L_0_107" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 107 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_107" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_DIF = M3_NXT - M3_POS;</span>
</div></td></tr><tr><td id="L_0_108" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 108 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_108" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_DIF = M4_NXT - M4_POS;</span>
</div></td></tr><tr><td id="L_0_109" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 109 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_109" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_110" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 110 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_110" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> reverse motor direction for negative difference</span>
</div></td></tr><tr><td id="L_0_111" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 111 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_111" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M1_DIF < </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_112" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 112 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_112" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_113" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 113 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_113" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_DIF = M1_DIF * -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_114" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 114 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_114" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_115" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 115 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_115" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_116" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 116 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_116" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M2_DIF < </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_117" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 117 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_117" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_118" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 118 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_118" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_DIF = M2_DIF * -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_119" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 119 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_119" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_120" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 120 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_120" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_121" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 121 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_121" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M3_DIF < </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_122" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 122 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_122" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">3</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_123" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 123 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_123" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_DIF = M3_DIF * -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_124" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 124 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_124" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_125" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 125 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_125" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_126" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 126 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_126" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(M4_DIF < </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) </span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_127" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 127 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_127" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_dir</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">4</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_128" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 128 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_128" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_DIF = M4_DIF * -</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_129" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 129 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_129" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_130" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 130 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_130" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_131" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 131 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_131" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> convert degress to steps</span>
</div></td></tr><tr><td id="L_0_132" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 132 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_132" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_STP = M1_DIF / scale_factor;</span>
</div></td></tr><tr><td id="L_0_133" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 133 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_133" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_STP = M2_DIF / scale_factor;</span>
</div></td></tr><tr><td id="L_0_134" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 134 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_134" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_STP = M3_DIF / scale_factor;</span>
</div></td></tr><tr><td id="L_0_135" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 135 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_135" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_STP = M4_DIF / scale_factor;</span>
</div></td></tr><tr><td id="L_0_136" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 136 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_136" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_137" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 137 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_137" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> move each motor that many steps</span>
</div></td></tr><tr><td id="L_0_138" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 138 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_138" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_step</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, M1_STP, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">28</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">99</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_139" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 139 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_139" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_step</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">2</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, M2_STP, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">28</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">99</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_140" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 140 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_140" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_step</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">3</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, M3_STP, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">28</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">99</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_141" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 141 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_141" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">motor_step</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">4</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, M4_STP, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">28</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">, </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">99</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">);</span>
</div></td></tr><tr><td id="L_0_142" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 142 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_142" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_143" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 143 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_143" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> set the current position</span>
</div></td></tr><tr><td id="L_0_144" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 144 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_144" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M1_POS = M1_NXT;</span>
</div></td></tr><tr><td id="L_0_145" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 145 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_145" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M2_POS = M2_NXT;</span>
</div></td></tr><tr><td id="L_0_146" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 146 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_146" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M3_POS = M3_NXT;</span>
</div></td></tr><tr><td id="L_0_147" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 147 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_147" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> M4_POS = M4_NXT;</span>
</div></td></tr><tr><td id="L_0_148" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 148 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_148" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_149" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 149 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_149" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">touch_sensor_check</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) == </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0x01</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">)</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{</span>
</div></td></tr><tr><td id="L_0_150" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 150 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_150" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">telemetry_send_code</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">TOUCH_SENSOR_1_ENGAGED); </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> For now, always send TOUCH_SENSOR_1_ENGAGED.</span>
</div></td></tr><tr><td id="L_0_151" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 151 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_151" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_152" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 152 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_152" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_153" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 153 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_153" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> code to return arm to callibrated "home" position</span>
</div></td></tr><tr><td id="L_0_154" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 154 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_154" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">if</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #34A7BD;">get_calibration_status</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">(</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">) != </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">0x01</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">)</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">{ </span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;">//</span><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"> or whichever motor refers to the home position</span>
</div></td></tr><tr><td id="L_0_155" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 155 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_155" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #A5A5A5;"></span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> status = </span><span class="normal real_text" style="background-color: #FFFFFF; color: #7C4FCD;">1</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">;</span>
</div></td></tr><tr><td id="L_0_156" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 156 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_156" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_157" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 157 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_157" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_158" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 158 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_158" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> }</span>
</div></td></tr><tr><td id="L_0_159" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 159 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_159" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_160" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 160 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_160" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> </span><span class="normal real_text" style="background-color: #FFFFFF; color: #C70040;">return</span><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;"> status;</span>
</div></td></tr><tr><td id="L_0_161" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 161 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_161" style="width: 842px;" class="wrap"><span class="normal" style="background-color: #FFFFFF; color: #000000;"> </span>
</div></td></tr><tr><td id="L_0_162" class="code_text code_gutter" style="background: #FFFFFF" valign="top"><span style="color: #000000;"> 162 </span></td><td class="code_text code_line" style="background-color: #FFFFFF;" valign="top"><div id="C_0_162" style="width: 842px;" class="wrap"><span class="normal real_text" style="background-color: #FFFFFF; color: #000000;">}</span>
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if (page_line_info.header) {
document.getElementById("file_info").style.width = page_line_info.wrap_size + "px";
}
for (i = 1; i <= page_line_info.tables; i++) {
idx = i - 1;
start = page_line_info.ranges[idx][0];
end = page_line_info.ranges[idx][1];
for(j = start; j < end; j++) {
if (mode == null) {
mode = true;
if (page_line_info.gutter) {
width = document.getElementById("L_" + idx + "_" + j).offsetWidth;
}
}
el = document.getElementById("C_" + idx + "_" + j);
el.style.width = (page_line_info.wrap_size - width) + "px";
el.className = "wrap";
}
}
}
function toggle_gutter() {
var i, j, mode, rows, r, tbls, cells;
tbls = document.getElementsByTagName('table');
for (i = 1; i <= page_line_info.tables; i++) {
rows = tbls[i].getElementsByTagName('tr');
r = rows.length;
for (j = 0; j < r; j++) {
cells = rows[j].getElementsByTagName('td');
if (mode == null) {
if (page_line_info.gutter) {
mode = 'none';
page_line_info.gutter = false;
} else {
mode = 'table-cell';
page_line_info.gutter = true;
}
}
cells[0].style.display = mode;
}
}
if (page_line_info.wrap && mode != null) {
setTimeout(function() {wrap_code();}, 500);
}
}
function unwrap_code() {
var i, j, idx, start, end, el;
if (page_line_info.header) {
document.getElementById("file_info").style.width = "100%";
}
for (i = 1; i <= page_line_info.tables; i++) {
idx = i - 1;
start = page_line_info.ranges[idx][0];
end = page_line_info.ranges[idx][1];
for(j = start; j < end; j++) {
el = document.getElementById("C_" + idx + "_" + j);
el.style.width = "100%";
el.className = "";
}
}
}
function toggle_wrapping() {
if (page_line_info.wrap) {
page_line_info.wrap = false;
unwrap_code();
} else {
page_line_info.wrap = true;
wrap_code();
}
}
page_line_info.wrap = false;
page_line_info.ranges = [[1,163]];
page_line_info.wrap_size = 900;
page_line_info.tables = 1;
page_line_info.header = true;
page_line_info.gutter = true;
</script>
<script type="text/javascript">
toggle_wrapping();
</script>
<script type="text/javascript">
document.getElementsByTagName('body')[0].onload = function (e) { page_print(); self.onload = null; };
</script>
</body></html>